Average consensus in multi-agent systems with uncertain topologies and multiple time-varying delays

In this paper, we investigate average consensus problem in continuous-time multi-agent systems with uncertain topologies as well as multiple time-varying communication delays. The network of dynamic agents is directed and both fixed and switching topologies are considered. By using the linear matrix inequality method, we prove that all the nodes in the network can achieve average consensus asymptotically for appropriate delays and uncertainties if the network topology is weakly connected and balanced. Feasible linear matrix inequalities are established to determine the maximal allowable upper bounds of multiple delays. Numerical examples are presented to illustrate the availability of the theoretical results.